姿控飞轮变结构变速积分控制及实现

为了兼顾飞轮控制系统的响应速度和稳态精度，在分析常值切换变结构控制和变速积分控制特性的基础上，将具有开关特性，响应快，但存在抖振缺点的常值切换变结构控制与能改变积分项的累加速度，使其与偏差大小相对应，稳态精度高的变速积分控制相结合,利用变速积分控制算法的稳态精度高的优点弥补常值切换控制的开关特性带来的缺点,提出了变结构变速积分控制。实验结果表明：变结构变速积分控制使系统的动态性能和稳态性能都得到很大提高。控制指令为偏移量1000rpm，幅值100rpm, 周期0.01Hz正弦信号时，跟踪误差为2rpm。

Variable structure changing integration rate control and implement for Flywheels

In order to balance responsibility and steady performance of flywheels, a combination of constant switching variable structure control and changing integration rate control was established on the basis of analysis of constant switching variable structure control and changing integration rate control. Constant switching variable structure control with switching characteristics, fast response, but there are buffeting. Changing integration rate PI can change the accumulation of integration speed, corresponding with the size of the deviation, with high stable precision. The advantages of changing integration rate can make up shortcomings of constant switching variable structure control. So method of variable-structure changing integration rate control is put forward. The experimental results indicate that the system dynamic performance and steady performance have been greatly improved. Under sine orders of offset 1000rpm, amplitude 100rpm, cycle 0.01Hz, the tracking error is 2rpm